Research on mobile workable multi-legged robot in anti-gravity / closed narrow space

2016 Fiscal Year Final Research Report

• Project/Area Number: 25280094
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: Osaka University
• Principal Investigator: Arai Tatsuo 大阪大学, 基礎工学研究科, 教授 (90301275)
• Co-Investigator(Kenkyū-buntansha): 小嶋 勝 大阪大学, 基礎工学研究科, 助教 (00533647) ; 前 泰志 大阪大学, 基礎工学研究科, 准教授 (50304027) ; 大原 賢一 名城大学, 理工学部, 准教授 (50517886)
• Project Period (FY): 2013-04-01 – 2017-03-31
• Keywords: 腕脚統合型ロボット / 作業移動 / 動作計画 / センシング / アクチュエーション

Outline of Final Research Achievements

The purpose of this research is development of the multi legged robot, which could achieve the inspection and maintenance work in specific place such as wall and ceiling (anti-gravitational space) and in the interior of pipes and other (closed narrow space). Specifically, we aim to achieve general anti-gravity / closed space movement with tasks, we designed the legs and motion that can support their own weight under anti-gravity environment and developed end effector and leg mechanism for work. Furthermore, we established a control method that achieves flexible and robust movement. Finally, we evaluate developed system and toward to apply inspection and maintenance work.

Free Research Field

ロボット工学